Related papers: Constructing Artificial Traffic Fluids by Designin…
Autonomous vehicles (AVs) enable more efficient and sustainable transportation systems. Ample studies have shown that controlling a small fraction of AVs can smooth traffic flow and mitigate traffic congestion. However, deploying AVs in…
This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves traditional barrier Lyapunov functions by introducing a smooth…
For the control of connected and autonomous vehicles (CAVs), most existing methods focus on model-based strategies. They require explicit knowledge of car-following dynamics of human-driven vehicles that are non-trivial to identify…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
For a right-invariant and controllable driftless system on SU(n), we consider a time-periodic reference trajectory along which the linearized control system generates su(n): such trajectories always exist and constitute the basic ingredient…
Most traffic flow control algorithms address switching cycle adaptation of traffic signals and lights. This work addresses traffic flow optimisation by self-organising micro-level control combining Reinforcement Learning and rule-based…
This paper presents an algorithm for computing inner estimates of the regions of attraction of limit cycles of a nonlinear hybrid system. The basic procedure is: (1) compute the dynamics of the system transverse to the limit cycle; (2) from…
In contexts where data samples represent a physically stable state, it is often assumed that the data points represent the local minima of an energy landscape. In control theory, it is well-known that energy can serve as an effective…
This paper proposes an event-triggered parameterized control method using a control Lyapunov function approach for discrete time linear systems with external disturbances. In this control method, each control input to the plant is a linear…
For the last few years, we assist to a growing interest of designing AQM (Active Queue Management) using control theory. In this paper, we focus on the synthesis of an AQM based on the Lyapunov theory for time delay systems. With the help…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
We consider the problem of vehicle following, where a safety distance to the leader vehicle is guaranteed at all times and a favourite velocity is reached as far as possible. We introduce the funnel cruise controller as a novel universal…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem…
Current state-of-art traffic microsimulation tools cannot accurately estimate safety, efficiency, and mobility benefits of automated driving systems and vehicle connectivity because of not considering physical and powertrain characteristics…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a…
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed…